Abstract

Fault-tolerant time-varying formation tracking problems for second-order multi-agent systems with actuator failures and directed topologies are investigated. Firstly, a distributed formation tracking control protocol is constructed using the adaptive law. In the case where the information of actuator failures remain unknown and only the local information of neighboring agents is available. Then the formation tracking condition is provided, and it is proven that by designing the formation tracking protocol using the proposed approaches, time-varying formation tracking can be achieved by the multi-agent system in the presence of actuator failures. The obtained results are applied to solve the formation tracking problem of a multi cruise missile system through acceleration tracking. Finally, numerical simulations are presented to demonstrate the effectiveness of the theoretical results.